We recently stayed at Hotel Ala in Venice on the recommendation of someone on this forum (Robert, I think?). It was perfectly located- steps from San Giglio stop and Alilaguna Orange stop which comes down the canal directly from the airport. No bridges or steps- not much more than 100 yds to hotel door. On a canal (gondoliers passing our window/small balcony) and a quiet campo yet still very close to San Marco (5 min walk). Comfortable room, nice bath, good bkft, friendly reception.
As we were checking out we noticed a RS My Way tour group checking in- so it might not be listed in his book, but his tours certainly use it!
http://www.hotelala.it
We really liked Hotel Calzaiuoli in Florence. Located midway between Duomo and Palazzo Vecchio, across from Orsanmichele church. Might be a bit of a splurge but was worth it to us for the location, spacious room, very nice bath VERY comfortable bed and hearty bkft. Surprisingly quiet although right on the pedestrian Calzaiuoli.
http://www.fhhotelgroup.it/eng/hotel-calzaiuoli-firenze/hotel_calzaiuoli.htm
Good luck!